For realizing autonomous vehicle driving and advanced safety systems, it is necessary to achieve accurate vehicle localization in cities. This paper proposes a method of accurately estimating vehicle position by matching a map and line segment features detected from images captured by a camera. Features such as white road lines, yellow road lines, road signs, and curb stones, which could be use...

This paper presents a vehicle detection method which can divide overlap vehicles. The proposed method detects vehicles by finding vertical planes above a road plane. At first, two horizontal line segments adjacent vertically are detected in the present frame. Then, corresponding line segments are searched in the previous frame by a correlation matching. If the motion of these horizontal line se...

An approach to vision-based vehicle localization by viewing corridors as a combination of right parallelepipeds is proposed. The objective is to derive the orientation and lateral position of a vehicle in a right parallelepiped corridor. These two kinds of information are all that is needed for vehicles to navigate safely in a right parallelepiped corridor. This approach offers low hardware cos...

Lane line detection plays an important role in vehicle autonomous driving, however non lane line markings and vehicle shadows seriously influence lane line detection results. In this paper, we propose a new lane line segmentation and detection algorithm based on inverse perspective mapping (IPM). Firstly, by using the restriction of the consistent lane line width after IPM, we segment the lane ...